Control device for a lifting device

Abstract

The present disclosure relates to a control device 1 for controlling a lifting device 10 with at least one lifting element 11, in particular a motor vehicle lifting device, the control device 1 comprising a control unit 2 and a communication unit 4.

Description

[0001] The present disclosure relates to a control device configured to control a lifting device. In particular, the control device can simplify the installation and removal of an energy storage device in a vehicle, especially an electric motor vehicle. Background of the Revelation

[0002] When removing a vehicle battery, hereinafter also referred to as an energy storage device or accumulator, a lifting device may be used, particularly in workshop environments, to raise the vehicle. Such vehicle lifting devices and their various designs are generally known. For example, and this is not an exhaustive list for the scope of the disclosure described below, lifting platforms with swivel arms can be used to raise the vehicle. Additionally, an installation / removal aid (hereinafter also referred to as a battery receiving device) is used for removal and transport to the lifting device. Such a battery receiving device, which may be a battery removal trolley, trolley, skid, small work platform, or the like, typically has a receiving surface on which the (vehicle) battery is placed.

[0003] A disadvantage is that when the vehicle is lowered, its entire weight is transferred to the battery mounting bracket, potentially overloading it. Battery mounting brackets are typically designed to support only the weight of the battery. Furthermore, the constant speed of the lift during lowering makes it difficult to guide the vehicle battery onto the mounting bracket, as precise alignment with the vehicle is not possible and the speed is high.

[0004] In light of the difficulties described above, a system has been developed that equips the battery mounting device with additional sensors, so that contact between the sensors and the vehicle can trigger a control command to the lifting device. This is described in EP4245595A1.

[0005] However, a disadvantage is that even with this design, an overload situation cannot be completely ruled out if the lifting device quickly comes into contact with the sensors. Furthermore, it would be desirable to avoid additional sensors and, in particular, to keep the battery storage device technically simple. Preferably, the battery storage device should be a manually movable / rollable "table" that does not require any further complex technology. Description of the Revelation

[0006] To solve the aforementioned problem, the corresponding set of claims should be used, whereby the subclaims contained therein demonstrate preferred technical developments.

[0007] According to one aspect of the present disclosure, a control device for controlling a lifting device is described.

[0008] As already explained above, the lifting device according to the present disclosure can take any known form of lifting devices and in particular of motor vehicle lifting devices.

[0009] As is also known, the lifting device has at least one lifting element with which a motor vehicle can be lifted. In the case of two-post lifts, for example, two such lifting elements are provided in the form of pivotable support arms per post.

[0010] The control device presented here includes, for example, at least one control unit and one communication unit.

[0011] Although this will be explained in more detail later, it should be noted here that the control device can be implemented in various ways. For example, the control device can be appropriately configured hardware and / or software that is integrated into or installed on the lifting device. This can be implemented by installing an additional control device in the form of a separate module on the lifting device. Alternatively, the control device can be designed as an external control computer that communicates with the lifting device.The implementation can also be achieved by adding the control device described here, in the form of hardware and / or software, to an existing control device of the lifting device. This is particularly simple if the control device / control unit described here is implemented as a software computer program and simply needs to be installed in an existing control device. Other implementation methods, even if not explicitly mentioned here, are of course also included in this disclosure, insofar as they are obvious to a person skilled in the art.

[0012] The control unit can be, as described above, a CPU, an ASIC, a software product, or the like. The communication unit can also be hardware and / or software and, in its basic form, is an interface for exchanging data. In particular, this can be for receiving data supplied by the lifting device, for example, in the form of operating data, which will be described in more detail later. Furthermore, it can also be configured to transmit control signals from the control unit to the lifting device. In the case of a more complex design, the communication unit can also include subunits or the like, preferably to operate radio-based / wireless or wired communication.

[0013] Furthermore, the communication unit is configured to receive operating data from the lifting device. This operating data includes at least a load capacity L(t) of the lifting device and / or a lifting height H(t) of the lifting device at a time t. It should be noted that the load capacity L(t) and / or the lifting height H(t) can be determined in various ways. For example, the lifting device can have suitable and already known means / units for this purpose, such as load sensors, units that determine the load or height from other data, such as motor torques, etc. The operating data is preferably acquired periodically and transmitted to the communication unit, so that fresh, i.e., current, operating data is received from the communication unit at regular or irregular, and preferably at short, intervals.This is expressed by "t" and, preferably, the control device can have or be connected to a data storage device so that several operating data values ​​from different times can be stored, e.g., at times t1, t2, t3, etc. or tn, ...t-1, t. The latter is particularly helpful if a temporal derivation of operating data is to be carried out or a development over a period of time is to be observed.

[0014] It should also be explained here that the determined / received load capacity L(t) can either represent the load capacity of a single lifting element from a plurality of existing lifting elements of a lifting device or, particularly preferably, the load capacity L(t) should represent the total load that is lifted by the lifting device and is independent of the number of existing lifting elements (i.e., in this case, that the sum of the partial loads of each lifting element gives the load capacity L(t)).

[0015] The control unit is designed to change the travel speed v(t) of at least one lifting element of the lifting device based on the received operating data (by means of control signals), preferably regulating the travel speed for all lifting elements to identical values ​​in the case of several lifting elements to ensure synchronous operation.

[0016] The application aims to professionally and safely remove and reinstall an energy storage device, preferably a vehicle battery, from a vehicle without significant additional technical effort or work steps. To avoid the aforementioned problems, it would be helpful to have a predefined installation / removal point (lifting height) that the lifting platform can automatically and precisely approach. Accurately reaching this point can be controlled by monitoring the vehicle weight acting on the lifting platform or the lifting height, which, as described above, is included in the operating data. In other words, the control device configuration described above allows the operating data to automatically detect one or more points that trigger a change in the travel speed, thus initiating a corresponding control action by the device.If a single point is defined, changing the travel speed would be equivalent to "setting it to zero," since the installation / removal point would be defined by this single point. If multiple points are defined, these could be used, for example, to trigger a slowdown of the travel speed of the lifting element(s) and ultimately to stop the movement at an endpoint. The detection of this point or these points can be achieved in various ways, as disclosed, and these options can also be combined. This is explained in more detail below in preferred aspects.

[0017] Optionally, the control unit can be configured to execute different operating modes, for example, via corresponding software modes. At least one operating mode can be provided for removing an energy storage device from a battery-electric vehicle, and another for installing one. Of course, further operating modes or only one of those mentioned can also be provided. The operating modes can be selected in various ways and as previously known; preferably, this is done by a user of the lifting device. However, automatic selection options can also be provided, for example...If the control device detects that a motor vehicle is lighter than intended, it could automatically detect that an installation mode should be activated, or if the vehicle has the weight typical for the specification, a removal working mode could be automatically selected.

[0018] Optionally, the control unit can be configured to lower the vehicle, raised by the lifting device, to a height corresponding to the height of a battery mounting device when an energy storage unit is removed, based on the operating data received from the lifting device. For this purpose, the battery mounting device is positioned underneath the vehicle beforehand, i.e., in the raised position. The vehicle is then lowered to the aforementioned height so that, once this height is reached, the energy storage unit or individual components / cells can be removed and placed on a receiving surface of the battery mounting device (afterwards, the vehicle can be raised again and the battery mounting device moved away, if necessary).Determining the height using the operating data of the lifting device means that the battery receiving device does not require any additional technical equipment, and the lifting device usually does not require any additional installations, as lifting height measurement and load capacity measurement are often already pre-installed in lifting devices.

[0019] Optionally, the control unit can be configured, particularly when an energy storage device is being installed, to set the travel speed v(t) to zero based on the received data regarding the load L(t) of at least one lifting element if the value L(t) decreases or starts to decrease during a lowering operation. This can be determined, for example, by comparing previously measured values ​​L(t-1, t-2, etc.) or by calculating the time derivative of several values ​​of L at different times tn, ..., t-1, t. Regarding the value L(t), it should also be noted that this can be a single value for one lifting element if several are present, or, preferably, the sum of the partial load values ​​of all lifting elements is used for L(t). If, however, only one lifting element is provided, L(t) would preferably be the load of that lifting element.

[0020] Regarding the values ​​L at various times tn, t, etc., it should also be noted that these can be temporarily stored in a data memory of the control device, the lifting device, a general control unit for the lifting device, and / or on a remotely located computer or server. Other values, such as the reference values ​​described below, etc., can also be stored or pre-stored here. If the control unit is also (partially) implemented using software, the data memory for pre-stored values, temporarily stored values, etc.—i.e., generally for data to be stored, and especially working data—can be the same physical memory that stores the control unit's software, or it can be a separate memory. The latter would be preferred, for example, if an ASIC with integrated memory is used for programming the control unit.

[0021] Optionally, the control unit can be configured, particularly when expanding an energy storage system, to set the travel speed v(t) to zero based on the received (working) data regarding the load capacity L(t) of at least one lifting element, if the value L(t) has become smaller than an initial value or previous value of L(t) during the lowering of at least one lifting element by a reference value Lref multiplied by a safety factor.

[0022] As described above, the reference value, here Lref, can be pre-stored in a data storage device and, for example, set at the factory or by a user before using the lifting device. The reference value Lref, as described below, preferably represents the weight of the energy storage device, and particularly preferably depends on the vehicle model to be lifted or its specific variant. A safety factor, which can range from 0% to 100%, is particularly preferably also included, allowing for precise adjustment of the sensitivity with which the zeroing function is triggered. Values ​​of 10-40% are preferred, although other values ​​are also possible.

[0023] "Decreased" here preferably means that the value of L(t) is continuously and periodically determined during the operation of the lifting device or its lifting element(s), and that, as described above, a change can be detected, for example, via comparisons. Of course, average values ​​or multiple reference value violations can also be required as a prerequisite for activation, so that, for example, a single instance of falling below the reference height or reference load, perhaps even caused by measurement inaccuracies, does not immediately trigger a control signal.

[0024] Such weight-dependent detection makes it possible to determine very precisely when the vehicle, upon lowering from a raised position, begins to make contact with the battery mounting device, thus indicating the insertion / removal point. In particular, this also prevents the battery mounting device from being subjected to excessive weight, i.e., above the battery weight load for which it is typically designed.

[0025] With regard to the above-described configuration and the following configurations, which are intended in particular for the expansion of an energy storage system, it should be noted that this is only to be understood as a preferred example and that, most preferably, this can be done in a corresponding operating mode / program mode of the control device, which can be selected by the user, for example.

[0026] Optionally, the control unit can be configured, particularly during the removal of an energy storage device, to set the travel speed v(t) to zero based on the received data regarding the stroke height H(t) of at least one lifting element, if the value H(t) has decreased to a reference value Href,Ende during the lowering of at least one lifting element. Here, Href,Ende is a reference value for the installation / removal position of the energy storage device, pre-stored in a data memory. Preferably, several values ​​are pre-stored in the data memory, each intended for a specific battery mounting device. The correct reference value, as with all other reference values ​​described here, can be selected automatically, for example, via automatic vehicle or battery mounting device recognition, or selected by a user, or, if no value is pre-defined / pre-stored, set manually.Here, the lifting height value, which is usually already recorded by the lifting device and therefore known, is used to detect the installation / removal position in a technically simple manner. With multiple lifting elements, it is preferably assumed that they all have the same lifting height.

[0027] To ensure a smooth transition when the lifting device or its lifting elements stop moving, and thus prevent excessively rapid approach to the insertion / removal position, the control unit can optionally adjust the travel speed v(t) based on the received data regarding the lifting height H(t) of at least one lifting element, according to a pre-stored speed profile. This profile can also be predefined in a data memory or set by a user before using the lifting device. For example, this adjustment can be configured such that if the value H(t) drops to a reference value Href,1 during the lowering of at least one lifting element, the travel speed is reduced. Further reference values ​​Href,2,3,...,n can be used to implement more detailed speed profiles.The final stop can then still occur at Href,End. The reference values ​​Href,1..n are preferably located above Href,End, with the distance ranging from a few centimeters to several decimeters. It is, of course, not impossible that they could be set even further above Href,End.

[0028] The control unit can be particularly preferably configured to set the travel speed v(t) to zero based on the received data regarding the lifting height H(t) and the load capacity L(t) of at least one lifting element if the value H(t) has decreased to a reference value Href,Ende during the lowering of at least one lifting element and / or the value L(t) begins to decrease (or has become smaller by a value Lref*safety factor) compared to an initial value or a previously measured value L at t-1. Here, a combination of the operating data lifting height and load capacity is used to enable additional safety, as two independent parameters are monitored and can alternatively trigger a stop. Furthermore, the combination can also be used, for example, to...At a reference value Href,1, the travel speed is slowed down, whereby the reference value Href,1 (as above) is set above Href,Ende (a speed profile can also be defined here), and the stop only occurs at Href,Ende and / or the load-bearing stop condition. This combination increases both the safety and the accuracy of approaching the insertion / removal position.

[0029] As described above, the reference values ​​for the load capacity Lref and for the safety factor for different vehicle models and vehicle variants can be stored in one or more data storage devices, and preferably Lref corresponds to the weight of an energy storage device of a respective vehicle model or vehicle variant.

[0030] Furthermore, the values ​​for Href,Ende or Href,1..n can be stored in one or more data stores and Href,Ende can correspond to the height of different models of battery receiving devices, with Href,1..n preferably being stored as the value Href,Ende added to a prestored height safety value.

[0031] Optionally, the control unit can be configured with an operating mode to take into account the potential suspension travel of a vehicle's suspension when the vehicle is lifted. For this purpose, the height reference values ​​Href,1 or Href,Ende can be modified by a suspension travel value, in order to specifically account for changes in the lifting height due to the vehicle's weight being altered by installation or removal.

[0032] Optionally, the control unit can be configured in a working mode for installing an energy storage device in a battery-electric vehicle to move to the height reference value Href,1 or Href,Ende. This enables precise and efficient positioning of the installation point.

[0033] Furthermore, the control unit, in a working mode for installing an energy storage device in a battery-electric vehicle, can be configured to approach a temporary altitude reference value Href,temp, whereby the temporary altitude reference value Href,temp was temporarily stored during a previous removal. This eliminates the need to rely on globally predefined reference values, but rather on precisely determined values ​​shortly beforehand, thus increasing the accuracy of approaching the installation position.

[0034] Control device according to at least one of the preceding claims, wherein the control unit can be a computer program product stored as a software product in a data storage device. As already explained above, this represents a further option in addition to a hardware and / or software implementation.

[0035] Furthermore, a lifting device with at least one lifting element for lifting a motor vehicle is presented here, which also has at least one recording unit for periodically recording (and transmitting) working data of the lifting device and a control device as described above.

[0036] In summary, the present disclosure enables highly precise positioning of the battery in / out position by utilizing existing sensors in lifting devices, thus avoiding any increase in the complexity of the lifting device. For example, when the battery weight is reached, the lowering point can be detected, allowing the battery to be placed on the skid with minimal or no mechanical stress and removed. The approach speed can also be controlled by pre-defined speed ramps / profiles, enabling the battery to be lifted onto and off the lifting aid at a slower speed. The present disclosure can be used for vehicles lifted at the body as well as for vehicles lifted at sprung points (e.g., wheels). Brief description of the characters

[0037] Figure 1:This schematically and exemplarily shows a lifting device, a battery receiving device and a control device as disclosed here. Figure 2: This schematically and exemplarily shows a lifting device, a battery receiving device and a control device as disclosed here. Detailed description of the figures

[0038] The present disclosure is further described below with reference to schematic and exemplary figures. The features of the various figures can be combined in whole or in part, and the present disclosure is not limited to the examples and representations described, as far as a person skilled in the art can tell.

[0039] The Figure 1Figure 1 schematically and exemplarily shows a lifting device 10, here as an example in the form of a two-post lift with two lifting elements 11 on each post (the lifting elements 11 of one post are visible, and the others are obscured by the vehicle), a battery mounting device W in a position where the energy storage device (the battery B) is placed on the battery mounting device W (the individual cells of the battery B are also shown schematically here), and a control device 1 according to the disclosure. Measuring sensors or detection means for height H(t) and load L(t) are not shown and, as is known, are usually part of the lifting device 10 or its general control system (not shown).

[0040] The control device 1 communicates with the lifting device 10, preferably wirelessly, via a data connection. This connection can be established through a schematically depicted data interface 12 on the lifting platform side and a communication unit 4 on the control device 1 side. Naturally, the arrangement of the control device 1 shown is to be interpreted as an example, and it is also possible that it is arranged / integrated directly on / within the lifting device 10, is provided as part of another / general control device of the lifting device 10, or is part of a remotely located computer or server. The control device 1 can also be designed as a software product and be part of a control program.

[0041] The Figure 1further shows that the control device 1 further comprises at least one control unit 2 and preferably also a data storage device 3 (unless this is arranged remotely or is provided in another storage unit which the control device 1 can access).

[0042] The preferred bidirectional data connection is in Figure 1 The connection is indicated by a dashed double arrow, and control signals, data such as work data, etc. can be exchanged or sent via the data connection.

[0043] Furthermore, the Figure 2 , which shows the raised motor vehicle F from a lower ground perspective, the battery receiving device W in the form of a manually movable trolley (shown here as an example) with a receiving surface on which the battery B is also shown to be placed. In the Figure 2The battery bay F1 of the battery-electric vehicle is also shown, into which battery B is installed during installation and from which it is removed during removal. As shown, battery B typically comprises a large number of individual cells, which are either removed / installed as a unit or individually.

[0044] Figure 1Furthermore, it also shows examples of possible reference values ​​stored in a data memory, e.g., the one marked with reference numeral 3, i.e., predetermined values ​​or values ​​entered by a user. Here, exemplary and virtual reference values ​​for Href,Ende and Href,1 are shown, where Href,Ende corresponds to the height of the receiving surface of the battery receiving device W, measured from the workshop floor or from the outer surfaces of the wheels of the battery receiving device W. Href,1, in turn, can be provided as a value above Href,Ende, so that upon reaching this value, when lowering the lifting device 10 or the lifting elements 11, a reduction in the travel speed v(t) can be controlled, or a speed profile can be followed, and a complete stop with v(t) = 0 occurs at Href,Ende. This is particularly advantageous for a negative v(t), i.e., for a downward movement.during a lowering.

[0045] The control signals are preferably transmitted via the data connection from the control device 1, while the measured values ​​of the current height H(t) are transmitted from the lifting device 10 to the control device 1 at periodically recorded and transmitted times tn, t-1, t, etc. Short time intervals are particularly preferred to maintain high accuracy in the movement monitoring. For example, it may be possible to measure and / or transmit every second, and preferably much more frequently, e.g., with intervals of a few milliseconds or one millisecond.

[0046] In other words, Href,Ende is a defined installation / removal point that can always be the same for identical vehicles of a model series. The installation / removal point is the point at which all connecting screws between the vehicle battery and the vehicle are loosened or can be loosened, and the vehicle battery is fully supported on the removal aid / battery support W.

[0047] As previously described, the installation / removal point can be pre-defined or saved and assigned to the respective model series using additional terminals (e.g., computers or smartphones) with a display. Ideally, the lifting device 10 (or lifting platform) moves automatically, controlled by the control device 1, to the pre-defined installation / removal point. Using additional points, such as Href,1, the travel speed can be automatically reduced and brought to a standstill at Href,Ende. By changing the speed and defining the installation / removal point, the force applied to the load of the battery B can be precisely controlled, preventing overloading of the support element for the vehicle battery (battery mounting device W) onto which the battery is later placed.This also applies to lifting tables that are driven to the vehicle battery and do not have load monitoring, so that the battery receiving device W does not require any complex modifications.

[0048] Furthermore, the control device 1 can also be used with additional pre-stored values, such as a reference spring travel, when the vehicle F is lifted by its wheels with wheel mounts. In this case, it is a sprung system, and the spring travel and spring force are taken into account during installation and removal (loosening the connecting bolts between the heavy vehicle battery and the vehicle causes an upward movement of the vehicle, not shown) and compensated for by the control device 1. For example, by adding or subtracting the reference spring travel value from the reference heights, such as Href,Ende.

[0049] Furthermore, alternatively or additionally, the control of an installation / removal point (more precisely, such a "height") can also be achieved by means of weight or load capacity monitoring on the lifting elements 11 or on the lifting device 10. In principle, as disclosed, this utilizes the fact that upon initial contact between the battery mounting device W and the vehicle F, a reduction in the load capacity (weight) measured on the lifting device 10 or its lifting elements 11 occurs, since part of the weight of the battery B and the vehicle F (in the battery-installed state) acts on the battery mounting device W. This transition in load capacity reduction can be detected by monitoring the load capacity of the lifting device 10 (or one or more of the lifting elements 11) at short time intervals, e.g., in the millisecond range, and used to detect the installation / removal point.Reference values, such as Lref or safety factors, can be pre-stored to define a change in the load capacity L(t) as a detection point. However, it can also be defined that any change in L(t) towards a reduction, i.e., a negative time derivative, is to be considered an entry / exit point and then triggers a stop of the travel speed.

[0050] A combination of height and load-bearing reference values ​​further enhances safety and allows for even more precise positioning at the installation / removal point. Based on the height reference values, or in the event of a load-bearing capacity reduction being detected, the installation point can also be approached by lowering the vehicle F (raised without battery B) until the load-bearing capacity reduction begins or until a defined height, such as Href,End, is reached. It is also possible that Href,Ende has been temporarily and automatically stored by the control device 1 during a removal process, allowing this value to be accessed during installation.

[0051] Furthermore, the present disclosure may also include one or more camera units (not shown) being connected to the control device 1 and / or the lifting device 10, and being arranged on the lifting device 10 or embedded in the floor. The camera unit(s) may, in particular, have a view of the underbody of the vehicle F, thus enabling simplified positioning of the battery mounting device W without requiring a person to go under the vehicle F. This positioning may also be computer-assisted, for example; or at least the positioning of the battery mounting device W may be monitored on a screen. The latter is particularly preferred if the battery mounting device W can be moved remotely or autonomously.

[0052] A process for installing or removing a battery B according to this disclosure could be carried out analogously to the devices / configurations of the control device described in the claims, in corresponding steps or sequences of steps.

[0053] In summary, the disclosure enables a less technically complex and safer installation and removal of a battery B from a motor vehicle F. 1 Control device 2 Control unit 3 Data storage (unit) 4 Communication unit 10 Lifting device 11 Lifting element(s) 12 Interface F (Motor) vehicle F1 Battery compartment B Energy storage / battery W Battery mounting device

Claims

1. A control device for controlling a lifting device with at least one lifting element, in particular a motor vehicle lifting device, the control device comprising: - a control unit (2), and - a communication unit (4), wherein the communication unit (4) is configured to receive operating data of the lifting device (10) and the operating data includes at least the load capacity L(t) of the lifting device and / or the lifting height H(t) of the lifting device (10) at a time t, and the control unit (2) is configured to determine a travel speed v(t) of the at least one lifting element (11) of the lifting device (10) based on the received operating data. during a lowering to change.

2. Control device according to claim 1, wherein the control unit (4) is configured to perform different operating modes and at least one operating mode is provided for removing an energy storage device from a battery electric vehicle and one operating mode for installing an energy storage device from a battery electric vehicle.

3. Control device according to at least one of the preceding claims, wherein the control unit (4) is configured in an operating mode for removing an energy storage device from a battery electric motor vehicle to lower the motor vehicle lifted by the lifting device to a height corresponding to the height of a battery receiving device (W) based on periodically measured and received operating data of the lifting device (10).

4. Control device according to at least one of the preceding claims, wherein the control unit (4), in particular in a working mode for removing an energy storage device from a battery electric vehicle, is configured to set the travel speed v(t) to zero based on the received data on the load capacity L(t) of the at least one lifting element (11) if a value L(t) decreases during a lowering process.

5. Control device according to at least one of the preceding claims, wherein the control unit (4), in particular in a working mode for the removal of an energy storage device from a battery electric vehicle, is configured to set the travel speed v(t) to zero based on the received data on the load capacity L(t) of the at least one lifting element (11) if a value L(t) has become smaller than an initial value or previous value of L(t) during the lowering of the at least one lifting element (11) by a reference value Lref multiplied by a safety factor.

6. Control device according to at least one of the preceding claims, wherein the control unit (4), in particular in a working mode for the removal of an energy storage device from a battery electric vehicle, is configured to set the travel speed v(t) to zero based on the received data on the lifting height H(t) of the at least one lifting element (11) if a value H(t) has decreased to a reference value Href,End during a lowering of the at least one lifting element (11).

7. Control device according to at least one of the preceding claims, in particular claim 6, wherein the control unit (4) , in particular in an operating mode for the removal of an energy storage device from a battery electric motor vehicle , is configured to change the travel speed v(t) according to a pre-stored speed profile based on the received data on the lifting height H(t) of the at least one lifting element (11) when a value H(t) has decreased to a reference value Href,1 during a lowering of the at least one lifting element (11).

8. Control device according to at least one of the preceding claims, wherein the control unit (4), in particular in an operating mode for the removal of an energy storage device from a battery-electric motor vehicle, is configured to set the travel speed v(t) to zero based on the received data on the lifting height H(t) and the load capacity L(t) of the at least one lifting element (11) if a value H(t) has decreased to a reference value Href,Ende during a lowering of the at least one lifting element (11) and / or the value L(t) begins to decrease or has become smaller by a value Lref multiplied by a safety factor compared to an initial value or previous value of L(t).

9. Control device according to at least one of the preceding claims, wherein reference values ​​for the load capacity Lref and for the safety factor for different vehicle models and vehicle variants are stored in a data storage device (3) and preferably Lref corresponds to the weight of an energy storage device of a respective vehicle model or vehicle variant.

10. Control device according to at least one of the preceding claims, wherein values ​​for Href,Ende are stored in a data storage device (3) and these correspond to the height of different models of battery receiving devices (W) and Href,1 is preferably stored as the value Href,Ende added to a pre-stored height safety value.

11. Control device according to at least one of the preceding claims, wherein a working mode of the control unit (4) is configured to take into account a possible spring travel of a motor vehicle suspension and for this purpose height reference values ​​Href,1 or Href,End are modified by a predetermined spring travel value.

12. Control device according to at least one of the preceding claims, wherein the control unit (4), in particular in an operating mode for the installation of an energy storage device in a battery electric motor vehicle, is configured to approach the height reference value Href,1 or Href,End.

13. Control device according to at least one of the preceding claims, in particular claim 12, wherein the control unit (4), in particular in an operating mode for the installation of an energy storage device, is configured to approach a temporary altitude reference value Href,temp, wherein the temporary altitude reference value Href,temp has been temporarily stored during a previous removal.

14. Control device according to at least one of the preceding claims, wherein the control unit (4) is a computer program product.

15. Lifting device comprising at least one lifting element for lifting a motor vehicle (F), at least one detection unit for periodically recording operating data of the lifting device (10) and a control device (1) according to at least one of claims 1 to 13.

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